version: 66.13
glider: 190
mission: 9
dive: 21
start: 8 29 116 23 21 50
data:
$ID,190
$MISSION,9
$DIVE,21
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53220
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.012
$HD_C,1.09e-05
$HEADING,165
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,627.47742
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3920
$C_PITCH,2280
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,40
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,8
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,350
$VBD_MAX,3900
$C_VBD,2908
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-163.98293
$PRESSURE_SLOPE,0.00010649362
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043932092
$SEABIRD_T_H,0.00063312391
$SEABIRD_T_I,2.6030159e-05
$SEABIRD_T_J,3.2258831e-06
$SEABIRD_C_G,-9.8128548
$SEABIRD_C_H,1.1245126
$SEABIRD_C_I,-0.00070758193
$SEABIRD_C_J,0.00013654788
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,290816,230257,1010.8874,-12457.5146,38,0.9,38,9.2,1.1,127.4,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.1
$GPS2,290816,232126,1010.7954,-12457.2451,16,1.0,17,9.2,0.5,114.5,8,7.1
$SPEED_LIMITS,0.159,0.231
$TGT_NAME,HEADING
$TGT_LATLONG,1000.364,-12454.407
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,146.5,20000,-17.2,-9.167,-21.61,2420
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.77,-146.0,204,2164,407,370,0.0,0.0,0,112,0.00,0.00,-90.95,0.000,16386,0.000,0.000,202,2166,2685,2695,2675,0,0,0,0,0,0,14.72,28.83,14.74
$GC,117,-0.77,-146.0,203,2166,2698,2675,3.1,-3.1,6,149,9.10,2.65,-15.02,0.000,18724,0.435,2.147,2010,3601,3505,3664,3346,0,0,0,0,0,0,14.42,13.87,14.56
$GC,260,-0.58,-146.0,2014,3601,3664,3346,52.0,-33.8,34,267,0.30,2.35,0.00,0.000,3206,0.250,0.047,2088,2185,3504,3664,3345,0,0,0,0,0,0,14.51,14.60,14.65
$GC,577,-0.61,-146.0,2088,2184,3667,3346,93.9,-7.4,56,579,0.00,0.00,0.00,0.000,166,0.000,0.000,2088,2184,3506,3666,3346,0,0,0,0,0,0,14.88,14.90,14.90
$GC,874,-0.67,-146.0,2088,2184,3667,3346,116.2,-7.2,69,882,0.00,2.45,0.00,0.000,420,0.000,0.083,2081,3603,3506,3666,3346,0,0,0,0,0,0,14.93,14.74,14.97
$GC,928,-0.77,-146.0,2081,3604,3667,3346,120.2,-7.3,79,935,0.15,2.38,0.00,0.000,5286,0.122,0.043,2017,2136,3505,3666,3345,0,0,0,0,0,0,14.78,14.78,14.83
$GC,1242,-0.77,-146.0,2017,2139,3667,3346,155.7,-11.8,91,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2139,3505,3666,3345,0,0,0,0,0,0,14.96,14.99,14.98
$GC,1542,-0.77,-146.0,2017,2139,3666,3344,188.8,-10.7,101,1549,0.00,2.22,0.00,0.000,516,0.000,0.058,2017,791,3504,3666,3343,0,0,0,0,0,0,14.99,14.82,15.00
$GC,1571,-0.77,-146.0,2017,791,3667,3343,192.0,-11.2,106,1578,0.00,2.38,0.00,0.000,1030,0.000,0.063,2012,2187,3506,3670,3342,0,0,0,0,0,0,14.89,14.82,14.90
$GC,1876,-0.77,-146.0,2012,2188,3663,3341,226.0,-11.1,117,1884,0.00,2.40,0.00,0.000,260,0.000,0.085,2011,3593,3500,3659,3341,0,0,0,0,0,0,14.98,14.81,15.02
$GC,1955,-0.81,-146.0,2012,3596,3660,3341,234.4,-10.3,132,1961,0.00,2.25,0.00,0.000,1158,0.000,0.044,2010,2198,3498,3659,3337,0,0,0,0,0,0,14.90,14.85,14.92
$GC,2273,-0.81,-146.0,2012,2198,3658,3338,268.0,-10.5,145,2281,0.00,2.35,0.00,0.000,516,0.000,0.060,2011,783,3497,3657,3337,0,0,0,0,0,0,14.99,14.83,15.02
$GC,2338,-0.81,-146.0,2012,784,3658,3338,274.7,-10.1,157,2345,0.00,2.40,0.00,0.000,1030,0.000,0.066,2011,2188,3496,3656,3337,0,0,0,0,0,0,14.90,14.83,14.91
$GC,2672,-0.81,-146.0,2011,2189,3653,3337,308.7,-10.3,173,2679,0.00,2.40,0.00,0.000,260,0.000,0.086,2007,3594,3494,3652,3336,0,0,0,0,0,0,15.01,14.83,15.03
$GC,2776,-0.85,-146.0,2007,3592,3652,3334,319.1,-9.7,193,2783,0.00,2.25,0.00,0.000,1158,0.000,0.046,2005,2204,3494,3652,3336,0,0,0,0,0,0,14.91,14.86,14.92
$GC,3100,-0.85,-146.0,2007,2205,3649,3334,352.5,-10.5,207,3106,0.00,2.38,0.00,0.000,516,0.000,0.061,2007,781,3491,3648,3334,0,0,0,0,0,0,15.01,14.84,15.03
$GC,3158,-0.88,-146.0,2005,781,3649,3334,358.7,-10.4,218,3165,0.00,2.45,0.00,0.000,1158,0.000,0.066,1997,2208,3490,3648,3333,0,0,0,0,0,0,14.90,14.83,14.92
$GC,3464,-0.88,-146.0,1999,2209,3646,3331,392.6,-11.2,229,3471,0.00,2.38,0.00,0.000,260,0.000,0.088,1998,3595,3488,3646,3331,0,0,0,0,0,0,15.02,14.83,15.04
$GC,3498,-0.88,-146.0,1999,3595,3645,3330,396.4,-11.0,235,3504,0.00,2.30,0.00,0.000,1030,0.000,0.047,1998,2192,3487,3645,3330,0,0,0,0,0,0,14.91,14.86,14.93
$GC,3831,-0.88,-146.0,1998,2192,3643,3329,432.9,-10.9,251,3838,0.00,2.35,0.00,0.000,516,0.000,0.062,1998,784,3485,3642,3328,0,0,0,0,0,0,15.02,14.84,15.03
$GC,3884,-0.88,-146.0,1999,785,3641,3335,439.0,-11.0,261,3892,0.00,2.42,0.00,0.000,1030,0.000,0.069,1998,2200,3482,3641,3324,0,0,0,0,0,0,14.90,14.84,14.95
$GC,4199,-0.88,-146.0,1998,2201,3640,3327,472.8,-10.7,273,4206,0.00,2.40,0.00,0.000,260,0.000,0.086,1994,3605,3482,3639,3326,0,0,0,0,0,0,15.01,14.83,15.02
$GC,4263,-0.91,-146.0,1994,3606,3640,3326,479.5,-10.4,285,4270,0.00,2.30,0.00,0.000,1158,0.000,0.049,1995,2203,3482,3639,3326,0,0,0,0,0,0,14.91,14.85,14.92
$GC,4597,-0.91,-146.0,1996,2198,3639,3325,515.8,-10.9,301,4610,0.00,2.38,0.00,0.000,516,0.000,0.063,1995,782,3478,3633,3324,0,0,0,0,0,0,15.02,14.85,15.04
$GC,4656,-0.91,-146.0,1995,782,3638,3325,522.3,-10.5,311,4670,0.00,2.42,0.00,0.000,1030,0.000,0.069,1986,2200,3481,3638,3324,0,0,0,0,0,0,14.92,14.84,14.93
$GC,4977,-0.91,-146.0,1986,2200,3636,3323,557.1,-10.9,323,4990,0.00,2.40,0.00,0.000,260,0.000,0.090,1984,3598,3479,3635,3323,0,0,0,0,0,0,15.03,14.85,15.05
$GC,5072,-0.91,-146.0,1985,3598,3635,3322,567.2,-10.4,340,5086,0.00,2.28,0.00,0.000,1030,0.000,0.049,1984,2200,3478,3634,3322,0,0,0,0,0,0,14.94,14.88,14.95
$GC,5378,-0.91,-146.0,1984,2195,3633,3320,599.5,-10.6,351,5391,0.00,2.38,0.00,0.000,516,0.000,0.063,1984,780,3476,3632,3320,0,0,0,0,0,0,15.05,14.86,15.06
$GC,5442,-0.91,-146.0,1985,781,3632,3320,606.7,-10.7,362,5456,0.00,2.45,0.00,0.000,1030,0.000,0.072,1984,2205,3475,3631,3319,0,0,0,0,0,0,14.93,14.84,14.93
$GC,5748,-0.91,-146.0,1984,2205,3630,3319,640.0,-11.1,373,5762,0.00,2.40,0.00,0.000,260,0.000,0.091,1974,3597,3473,3629,3318,0,0,0,0,0,0,15.04,14.85,15.06
$GC,5813,-0.91,-146.0,1975,3598,3629,3322,647.5,-11.2,384,5826,0.00,2.30,0.00,0.000,1030,0.000,0.049,1974,2198,3473,3629,3318,0,0,0,0,0,0,14.94,14.89,14.95
$GC,6119,-0.91,-146.0,1974,2193,3629,3317,682.4,-11.4,395,6132,0.00,2.38,0.00,0.000,516,0.000,0.062,1974,774,3472,3628,3317,0,0,0,0,0,0,15.07,14.87,15.07
$GC,6153,-0.91,-146.0,1974,774,3628,3317,686.4,-11.8,400,6167,0.00,2.45,0.00,0.000,1030,0.000,0.072,1971,2202,3472,3628,3316,0,0,0,0,0,0,14.92,14.85,14.94
$GC,6459,-0.91,-146.0,1971,2201,3626,3316,720.0,-11.0,411,6472,0.00,2.40,0.00,0.000,260,0.000,0.093,1962,3598,3471,3627,3316,0,0,0,0,0,0,15.02,14.85,15.06
$GC,6513,-0.91,-146.0,1963,3598,3626,3315,726.3,-11.0,420,6526,0.00,2.28,0.00,0.000,1030,0.000,0.050,1962,2199,3470,3625,3315,0,0,0,0,0,0,14.93,14.87,14.94
$GC,6839,-0.91,-146.0,1963,2197,3625,3315,763.0,-11.5,433,6852,0.00,2.38,0.00,0.000,516,0.000,0.063,1962,782,3468,3624,3313,0,0,0,0,0,0,15.04,14.87,15.06
$GC,6898,-0.91,-146.0,1963,782,3624,3315,770.0,-11.1,443,6911,0.12,2.42,0.00,0.000,3078,0.298,0.073,1981,2195,3468,3623,3313,0,0,0,0,0,0,14.78,14.85,14.92
$GC,7219,-0.91,-146.0,1981,2196,3622,3313,802.5,-10.1,455,7232,0.00,2.42,0.00,0.000,260,0.000,0.096,1972,3598,3466,3621,3312,0,0,0,0,0,0,15.04,14.85,15.06
$GC,7259,-0.91,-146.0,1972,3598,3622,3312,806.4,-8.9,461,7272,0.00,2.30,0.00,0.000,1062,0.000,0.052,1972,2198,3466,3621,3311,0,0,0,0,0,0,14.94,14.88,14.95
$GC,7599,-0.91,-146.0,1972,2192,3621,3310,843.2,-10.7,477,7613,0.00,2.38,0.00,0.000,516,0.000,0.065,1972,781,3465,3620,3310,0,0,0,0,0,0,15.04,14.85,15.06
$GC,7644,-0.91,-146.0,1972,781,3621,3310,848.0,-10.9,484,7657,0.00,2.45,0.00,0.000,1030,0.000,0.076,1972,2194,3465,3620,3310,0,0,0,0,0,0,14.93,14.83,14.95
$GC,7979,-0.91,-146.0,1972,2194,3618,3310,883.7,-10.7,499,7992,0.00,2.42,0.00,0.000,260,0.000,0.097,1962,3593,3463,3618,3309,0,0,0,0,0,0,15.03,14.84,15.05
$GC,8033,-0.91,-146.0,1962,3593,3618,3310,889.8,-11.0,508,8046,0.00,2.28,0.00,0.000,1030,0.000,0.051,1962,2202,3463,3617,3309,0,0,0,0,0,0,14.93,14.88,14.95
$GC,8359,-0.91,-146.0,1962,2198,3618,3309,927.6,-11.6,521,8372,0.00,2.40,0.00,0.000,516,0.000,0.067,1962,775,3463,3617,3309,0,0,0,0,0,0,15.02,14.85,15.05
$GC,8423,-0.91,-146.0,1962,775,3617,3309,934.6,-11.4,532,8437,0.00,2.47,0.00,0.000,1030,0.000,0.079,1959,2199,3462,3617,3308,0,0,0,0,0,0,14.92,14.83,14.93
$GC,8729,-0.91,-146.0,1959,2199,3616,3309,969.9,-11.5,543,8742,0.00,2.42,0.00,0.000,260,0.000,0.099,1949,3596,3462,3615,3309,0,0,0,0,0,0,15.02,14.83,15.04
$GC,8793,-0.91,-146.0,1947,3596,3615,3308,977.7,-11.9,554,8807,0.15,2.33,0.00,0.000,3078,0.259,0.053,1985,2193,3461,3614,3308,0,0,0,0,0,0,14.76,14.85,14.89
$STATE,8915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8916,begin apogee
$GC,8924,-0.20,0.0,1986,2296,3615,3308,990.2,-9.3,559,9092,0.77,0.00,152.95,2.744,10244,0.216,0.000,2211,2296,2911,3068,2754,0,0,0,0,1,0,14.77,13.83,12.96
$STATE,9094,end apogee,CONTROL_FINISHED_OK
$STATE,9094,begin climb
$GC,9097,0.77,146.0,2211,2297,3063,2754,997.2,0.0,564,9312,0.95,2.62,194.60,1.968,10500,0.095,0.106,2528,3684,2303,2367,2239,0,0,0,0,0,0,13.96,13.94,13.35
$GC,9371,0.54,146.0,2528,3684,2345,2227,979.4,15.1,617,9387,0.38,2.50,0.00,0.000,5254,0.344,0.076,2458,2302,2283,2344,2223,0,0,0,0,0,0,14.05,14.18,14.24
$GC,9675,0.43,146.0,2459,2303,2345,2212,936.3,13.4,628,9688,0.15,2.55,0.00,0.000,4740,0.336,0.089,2433,869,2278,2343,2213,0,0,0,0,0,0,14.40,14.50,14.52
$GC,9700,0.33,146.0,2433,869,2344,2210,933.5,11.7,631,9713,0.17,2.53,0.00,0.000,5254,0.303,0.081,2394,2279,2276,2343,2210,0,0,0,0,0,0,14.43,14.52,14.59
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$STATE,19358,end climb,SURFACE_DEPTH_REACHED
$STATE,19358,begin surface coast
$FINISH,2.4,1.020590
$STATE,19363,end surface coast,CONTROL_FINISHED_OK
$STATE,19363,begin surface
$SM_CCo,19392,53.33,0.138,0,0,350,627.48
$SM_GC,0.98,6.75,2.62,53.33,0.074,0.063,0.138,220,2188,350,-6.39,1.05,627.48,0,0,0,0,0,0,14.64,14.64,14.59
$IRIDIUM_FIX,1009.21,-12457.37,290816,172902
$TT8_MAMPS,0.038199,0.298851
$HUMID,53.22
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,23.40
$XPDR_PINGS,23
$SC_FREEKB,7761536
$PM_FREEKB,61703936
$TM_FREEKB,7581792
$24V_AH,12.96,12.200
$10V_AH,13.17,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.150,235.025,674.125,53.325,0.000,0.000,0.000,584.075,5.750,0.000,18.483,0.000,14567.695,956.079,4290.692,719.492,0.000,3179.310,0.000,2413.103,0.000,0.541,0.000
$DEVICE_MAMPS,435.285,2146.590,2744.055,138.465,0.000,0.000,0.000,196.605,420.000,0.000,22.470,0.000,2.190,10.770,28.750,35.490,0.000,11.700,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19448.000,19370.000,10207.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.975,2.929,11.513,0.000
$MEM,334888
$DATA_FILE_SIZE,49944,1333
$CAP_FILE_SIZE,199865,0
$CFSIZE,260034560,250826752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.058,189.52,1
$GPS,300816,044704,1008.223,-12456.385,26,0.8,26,9.2,0.0,0.0,10,6.8